Title

Markerless 6-DoF Pose Estimation for Closed-Loop Control of Tendon-Driven Continuum Manipulators

Alternative Title

텐던 구동 연속체 매니퓰레이터의 폐루프 제어를 위한 마커리스 6 자유도 자세 추정

DGIST Authors

Chunggil An ; Minho Hwang

Advisor

황민호

Issued Date

2026

Awarded Date

2026-08-01

Type

Thesis

Description

Markerless 6D Pose Estimation, Visual Servoing, Sim-to-Real, Differential Rendering, Self-supervised learning

Table Of Contents

List of Contents
Abstract i
List of contents ii
List of tables iv
List of figures v

Ⅰ. Introduction 1
Ⅱ. Related Works
2.1 Pose Estimation of Continuum Manipulators 4
2.2 Synthetic Data Generation for Continuum Manipulators 4
2.3 Differentiable Rendering-Based Pose Estimation 5
2.4 Closed-Loop Control of Continuum Manipulators 5
Ⅲ. Hardware and Kinematics
3.1 Forward Kinematics 6
3.2 Jacobian and Inverse Kinematics 8
Ⅳ. Synthetic Data Generation
4.1 URDF Modeling of the Continuum Manipulator 9
4.2 Simulation Environment and Rendering 9
4.3 Simulation-Driven Ground-Truth Generation 10
4.4 Domain Randomization 12
4.5 Dataset Composition 12
Ⅴ. Pose Estimation Framework
5.1 Region-of-Interest Extraction 14
5.2 Multi-Feature Fusion Network 15
5.3 Keypoint Detection Module 15
5.4 Segmentation Module 16
5.5 Pose Regression Head 16
5.6 Stereo-Aware Attention Module 17
5.7 Feed-Forward Rendering-Based Refinement Module 18
5.8 Loss Formulation and Multi-Stage Training 19
Ⅵ. Model Component Ablations
6.1 Comparative Performance on Synthetic Data 22
6.2 Effect of the Refinement Module 22
6.3 Effect of the Stereo Configuration 23
6.4 Time Efficiency and Model Complexity 24
Ⅶ. Sim-to-Real Transfer via Calibration and Self-Supervised Adaptation
7.1 Real Camera Intrinsic and Extrinsic Calibration 25
7.2 Self-Supervised Real Adaptation with Pseudo Ground Truth 27
7.3 Effect of Jaw Case Attachment on Pose Estimation Accuracy 31
Ⅷ. Model Validation in Real Environments
8.1 Performance with and without Self-Supervised Adaptation 33
8.2 Performance Comparison with Previous State-of-the-Art Methods 34
Ⅸ. Closed-Loop Control of the Continuum Manipulator
9.1 Jacobian-Based Position-Based Visual Servoing 36
9.2 Point-Reaching Tasks 38
9.3 Trajectory Tracking Tasks 38
Ⅹ. Conclusion 40
Reference 42

URI

https://scholar.dgist.ac.kr/handle/20.500.11750/60785
http://dgist.dcollection.net/common/orgView/200001007046

DOI

10.22677/THESIS.200001007046

Degree

Master

Department

Department of Robotics and Mechatronics Engineering

Publisher

DGIST

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